This study presents a wheelchair design that incorporates a slider-crank mechanism to enhance stability while navigating obstacles. Traditional wheelchairs experience significant inclination changes when climbing or descending, which can compromise user safety. To address this issue, the proposed system utilizes a linear actuator to dynamically adjust the chair’s inclination, ensuring a more stable ride. The mathematical modelling of the system is based on Newton–Euler equations, which help in analysing its dynamic behaviour. Prototype testing demonstrated the effectiveness of this approach, as the wheelchair successfully overcame obstacles up to 35 mm in height and managed descents from 70 mm elevations with minimal inclination variation. In comparison to conventional wheelchairs, which experienced a −6° inclination shift while descending, the proposed design limited this shift to just 1°, significantly improving comfort and stability. Additionally, the rider remains faced in the direction of motion while climbing or descending, enhancing visibility, safety, and overall confidence. By improving accessibility on uneven terrain, this innovative wheelchair design offers a practical solution for users, reducing discomfort and increasing stability.